From 01f33df70718b7a7dba342fb5920d91b3cd83c09 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 24 Mar 2014 09:04:35 +0100 Subject: Added EKF filter health status reporting, added dynamic in-air reset. --- src/modules/uORB/topics/estimator_status.h | 81 ++++++++++++++++++++++++++++++ 1 file changed, 81 insertions(+) create mode 100644 src/modules/uORB/topics/estimator_status.h (limited to 'src/modules/uORB/topics/estimator_status.h') diff --git a/src/modules/uORB/topics/estimator_status.h b/src/modules/uORB/topics/estimator_status.h new file mode 100644 index 000000000..66ca03019 --- /dev/null +++ b/src/modules/uORB/topics/estimator_status.h @@ -0,0 +1,81 @@ +/**************************************************************************** + * + * Copyright (c) 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file estimator_status.h + * Definition of the estimator_status_report uORB topic. + * + * @author Lorenz Meier + */ + +#ifndef ESTIMATOR_STATUS_H_ +#define ESTIMATOR_STATUS_H_ + +#include +#include +#include "../uORB.h" + +/** + * @addtogroup topics + * @{ + */ + +/** + * Estimator status report. + * + * This is a generic status report struct which allows any of the onboard estimators + * to write the internal state to the system log. + * + */ +struct estimator_status_report { + + /* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes - change with consideration only */ + + uint64_t timestamp; /**< Timestamp in microseconds since boot */ + float states[32]; /**< Internal filter states */ + float n_states; /**< Number of states effectively used */ + bool states_nan; /**< If set to true, one of the states is NaN */ + bool covariance_nan; /**< If set to true, the covariance matrix went NaN */ + bool kalman_gain_nan; /**< If set to true, the Kalman gain matrix went NaN */ + bool states_out_of_bounds; /**< If set to true, one of the states is out of bounds */ + +}; + +/** + * @} + */ + +/* register this as object request broker structure */ +ORB_DECLARE(estimator_status); + +#endif -- cgit v1.2.3